Continuous-Discrete Adaptive Observers For a Class of Nonlinear Systems With Sampled Output
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- 英文论文题名：Continuous-Discrete Adaptive Observers For a Class of Nonlinear Systems With Sampled Output
- 论文作者：Guanglei Zhao ; Jie Mi
- 英文论文作者：Guanglei Zhao ; Jie Mi ; Institute of Electrical Engineering ; Yanshan University ; Department of Human Resource ; Yanshan University
- 年：2017
- 作者机构：Institute of Electrical Engineering,Yanshan University;Department of Human Resource,Yanshan University;
- 英文论文关键词：nonlinear systems ; continuous-discrete adaptive observer ; sampled output measurements ; persistent excitation ; unknown parameter
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：O231
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：315k
- 原文格式：D
- 会议级别：全国
摘要
This paper considers the continuous-discrete time adaptive observer design for a class of nonlinear systems with unknown constant parameters and sampled output measurements. The proposed observer is in impulsive dynamics form with an inter-sample output predictor, where the observer state flows continuously when the output is not available, and a corrective term corresponding to measured samples is used to update the observer state. By assuming appropriate persistent excitation conditions and following a technical lemma, an upper bound of the sampling intervals is derived, with which, the convergence of the observer state and unknown parameters can be ensured. Finally, the proposed observer is used in an example of single-link flexible-joint robot manipulator to show the effectiveness.
This paper considers the continuous-discrete time adaptive observer design for a class of nonlinear systems with unknown constant parameters and sampled output measurements. The proposed observer is in impulsive dynamics form with an inter-sample output predictor, where the observer state flows continuously when the output is not available, and a corrective term corresponding to measured samples is used to update the observer state. By assuming appropriate persistent excitation conditions and following a technical lemma, an upper bound of the sampling intervals is derived, with which, the convergence of the observer state and unknown parameters can be ensured. Finally, the proposed observer is used in an example of single-link flexible-joint robot manipulator to show the effectiveness.
This paper considers the continuous-discrete time adaptive observer design for a class of nonlinear systems with unknown constant parameters and sampled output measurements. The proposed observer is in impulsive dynamics form with an inter-sample output predictor, where the observer state flows continuously when the output is not available, and a corrective term corresponding to measured samples is used to update the observer state. By assuming appropriate persistent excitation conditions and following a technical lemma, an upper bound of the sampling intervals is derived, with which, the convergence of the observer state and unknown parameters can be ensured. Finally, the proposed observer is used in an example of single-link flexible-joint robot manipulator to show the effectiveness.
引文
[1]A.Zemouche,M.Boutayeb,G.Bara,Observers for a class of Lipschitz systems with extension to H∞performance analysis,Systems&Control Letters 57(1)(2008)18–27.
[2]N.Kazantzis,C.Kravaris,Nonlinear observer design using Lyapunovs auxiliary theorem,Systems&Control Letters34(5)(1998)241–247.
[3]J.P.Gauthier,H.Hammouri,S.othman,A simple observer for nonlinear systems applications to bioreactors,IEEE Transactions on Automatic Control 37(6)(1992)875–880.
[4]A.Bobtsov,A.Pyrkin,N.Nikolaev,O.Slita,Adaptive observer design for a chaotic duffing system,International Journal of Robust and Nonlinear Control 19(7)(2009)839–841.
[5]M.Farza,M.M’Saad,T.Maatoug,M.Kamoun,Adaptive observers for nonlinearly parameterized class of nonlinear systems,Automatica 45(10)(2009)2292–2299.
[6]B.Chen,W.Yao,F.Chen,Z.Lu,Parameter sensitivity in sensorless induction motor drives with the adaptive full-order observer,IEEE Transactions on Industrial Electronics 62(7)(2015)4307–4318.
[7]I.Y.Tyukin,E.Steur,H.Nijmeijer,C.Leeuwen,Adaptive observers and parameter estimation for a class of systems nonlinear in the parameters,Automatica 49(8)(2013)2409–2423.
[8]A.Jazwinski,Stochastic processes and filtering theory,Courier Dover Publications,New York,2007.
[9]F.Deza,E.Busvelle,J.P.Gauthier,High gain estimation for nonlinear systems,Systems&Control Letters 18(4)(1992)295–299.
[10]S.A.Ali,A.Christen,S.Begg,N.Langlois,Continuousdiscrete time observer design for state and disturbance estimation of electro-hydraulic actuator systems,IEEE Transactions on Industrial Electronics,DOI:10.1109/TIE.2016.2531022.
[11]M.Nadri,H.Hammouri,Design of a continuous-discrete observer for state affine systems,Applied Mathematics Letters16(6)(2003)967–974.
[12]T.Ahmed-Ali,R.Postoyan,F.Lamnabhi-Lagarrigue,Continuous-discrete adaptive observers for state affine systems,Automatica 45(12)(2009)2986–2990.
[13]T.Ahmed-Ali,V.V.Assche,J.Massieu,P.Dorleans,Continuous-discrete observers for state affine systems with sampled and delayed measurements,IEEE Transactions on Automatic Control 58(4)(2013)1085–1091.
[14]W.Chen,D.Li,X.Lu,Impulsive observers with variable update intervals for lipschitz nonlinear time-delay systems,International Journal of Systems Science 44(10)(2013)1934–1947.
[15]T.Folin,T.Ahmed-Ali,F.Giri,L.Burlion,F.LamnabhiLagarrigue,Sampled-data adaptive observer for a class of state-affine output-injection nonlinear systems,IEEE Transactions on Automatic Control 61(2)(2016)462–467.
[16]T.Ahmed-Ali,E.Fridman,F.Giri,L.Burlion,F.LamnabhiLagarrigue,A new approach to enlarging sampling intervals for sampled-data systems,IFAC Papersonline 48(12)(2016)440–445.
[17]I.Karafyllis,C.Kravaris,From continuous-time design to smapled-data design of observers,IEEE Transactions on Automatic Control 54(9)(2013)2169–2174.
[18]M.Farza,I.Bouraoui,T.Menard,R.Abdennour,M.M’Saad,Adaptive observers for a class of uniformly observable systems with nonlinear parametrization and sampled outputs,Automatica 50(11)(2014)2951–2960.
[19]M.Farza,M.M’Saad,M.Fall,E.Pigeon,O.Gehan,K.Busawon,Continuous-discrete time observers for a class of MIMO nonlinear systems,IEEE Transactions on Automatic Control 59(4)(2014)1060–1065.
[20]T.Raff,M.Kogel,F.Allgower,Observer with sample-andhold updating for Lipschitz nonlinear systems with nonuniformly sampled measurements,in:American Control Conference,Seattle,USA,2008,pp.5254–5257.
[21]M.Ayati,H.Khaloozadeh,Designing a novel adaptive impulsive observer for nonlinear continuous systems using LMIs,IEEE Transactions on Circuit and Systems-I:Regular Papers59(1)(2012)179–187.
[22]W.Chen,W.Yang,W.Zheng,Adaptive impulsive observers for nonlinear systems:Revisited,Automatica 61(2015)232–240.
[23]V.Andrieu,M.Nadri,Observer design for Lipschitz systems with discrete-time measurements,in:IEEE Conference on Decision and Control,Atlanta,USA,2010,pp.6522–6527.
[24]F.Mazenc,V.Andrieu,M.Malisoff,Design of continuousdiscrete observers for time-varying nonlinear systems,Automatica 57(2015)135–144.
[25]T.Dinh,V.Andrieu,M.Nadri,U.Serres,Continuousdiscrete time observer design for Lipschitz systems with sampled measurements,IEEE Transactions on Automatic Control60(3)(2015)787–792.
[26]M.Spong,Adaptive control of flexible joint manipulators,Systems&Control Letters 13(1)(1989)15–21.
[27]G.Phanomchoeng,R.Rajamani,Observer design for Lipschitz nonlinear systems using Riccati equations,in:American Control Conference,Baltimore,USA,2010,pp.6060–6065.
[2]N.Kazantzis,C.Kravaris,Nonlinear observer design using Lyapunovs auxiliary theorem,Systems&Control Letters34(5)(1998)241–247.
[3]J.P.Gauthier,H.Hammouri,S.othman,A simple observer for nonlinear systems applications to bioreactors,IEEE Transactions on Automatic Control 37(6)(1992)875–880.
[4]A.Bobtsov,A.Pyrkin,N.Nikolaev,O.Slita,Adaptive observer design for a chaotic duffing system,International Journal of Robust and Nonlinear Control 19(7)(2009)839–841.
[5]M.Farza,M.M’Saad,T.Maatoug,M.Kamoun,Adaptive observers for nonlinearly parameterized class of nonlinear systems,Automatica 45(10)(2009)2292–2299.
[6]B.Chen,W.Yao,F.Chen,Z.Lu,Parameter sensitivity in sensorless induction motor drives with the adaptive full-order observer,IEEE Transactions on Industrial Electronics 62(7)(2015)4307–4318.
[7]I.Y.Tyukin,E.Steur,H.Nijmeijer,C.Leeuwen,Adaptive observers and parameter estimation for a class of systems nonlinear in the parameters,Automatica 49(8)(2013)2409–2423.
[8]A.Jazwinski,Stochastic processes and filtering theory,Courier Dover Publications,New York,2007.
[9]F.Deza,E.Busvelle,J.P.Gauthier,High gain estimation for nonlinear systems,Systems&Control Letters 18(4)(1992)295–299.
[10]S.A.Ali,A.Christen,S.Begg,N.Langlois,Continuousdiscrete time observer design for state and disturbance estimation of electro-hydraulic actuator systems,IEEE Transactions on Industrial Electronics,DOI:10.1109/TIE.2016.2531022.
[11]M.Nadri,H.Hammouri,Design of a continuous-discrete observer for state affine systems,Applied Mathematics Letters16(6)(2003)967–974.
[12]T.Ahmed-Ali,R.Postoyan,F.Lamnabhi-Lagarrigue,Continuous-discrete adaptive observers for state affine systems,Automatica 45(12)(2009)2986–2990.
[13]T.Ahmed-Ali,V.V.Assche,J.Massieu,P.Dorleans,Continuous-discrete observers for state affine systems with sampled and delayed measurements,IEEE Transactions on Automatic Control 58(4)(2013)1085–1091.
[14]W.Chen,D.Li,X.Lu,Impulsive observers with variable update intervals for lipschitz nonlinear time-delay systems,International Journal of Systems Science 44(10)(2013)1934–1947.
[15]T.Folin,T.Ahmed-Ali,F.Giri,L.Burlion,F.LamnabhiLagarrigue,Sampled-data adaptive observer for a class of state-affine output-injection nonlinear systems,IEEE Transactions on Automatic Control 61(2)(2016)462–467.
[16]T.Ahmed-Ali,E.Fridman,F.Giri,L.Burlion,F.LamnabhiLagarrigue,A new approach to enlarging sampling intervals for sampled-data systems,IFAC Papersonline 48(12)(2016)440–445.
[17]I.Karafyllis,C.Kravaris,From continuous-time design to smapled-data design of observers,IEEE Transactions on Automatic Control 54(9)(2013)2169–2174.
[18]M.Farza,I.Bouraoui,T.Menard,R.Abdennour,M.M’Saad,Adaptive observers for a class of uniformly observable systems with nonlinear parametrization and sampled outputs,Automatica 50(11)(2014)2951–2960.
[19]M.Farza,M.M’Saad,M.Fall,E.Pigeon,O.Gehan,K.Busawon,Continuous-discrete time observers for a class of MIMO nonlinear systems,IEEE Transactions on Automatic Control 59(4)(2014)1060–1065.
[20]T.Raff,M.Kogel,F.Allgower,Observer with sample-andhold updating for Lipschitz nonlinear systems with nonuniformly sampled measurements,in:American Control Conference,Seattle,USA,2008,pp.5254–5257.
[21]M.Ayati,H.Khaloozadeh,Designing a novel adaptive impulsive observer for nonlinear continuous systems using LMIs,IEEE Transactions on Circuit and Systems-I:Regular Papers59(1)(2012)179–187.
[22]W.Chen,W.Yang,W.Zheng,Adaptive impulsive observers for nonlinear systems:Revisited,Automatica 61(2015)232–240.
[23]V.Andrieu,M.Nadri,Observer design for Lipschitz systems with discrete-time measurements,in:IEEE Conference on Decision and Control,Atlanta,USA,2010,pp.6522–6527.
[24]F.Mazenc,V.Andrieu,M.Malisoff,Design of continuousdiscrete observers for time-varying nonlinear systems,Automatica 57(2015)135–144.
[25]T.Dinh,V.Andrieu,M.Nadri,U.Serres,Continuousdiscrete time observer design for Lipschitz systems with sampled measurements,IEEE Transactions on Automatic Control60(3)(2015)787–792.
[26]M.Spong,Adaptive control of flexible joint manipulators,Systems&Control Letters 13(1)(1989)15–21.
[27]G.Phanomchoeng,R.Rajamani,Observer design for Lipschitz nonlinear systems using Riccati equations,in:American Control Conference,Baltimore,USA,2010,pp.6060–6065.